Adaptive Fuzzy Control of Uncertain Robotic Manipulator
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-06
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper designs a kind of adaptive fuzzy controller for robotic manipulator considering external disturbances and modeling errors.
First, n-link uncertain robotic manipulator dynamics based on the Lagrange equation is changed into a two-order multiple-input multiple-output (MIMO) system via feedback technique.
Then, an adaptive fuzzy logic control scheme is studied by using sliding theory, which adopts the adaptive fuzzy logic systems to estimate the uncertainties and employs a filtered error to make up for the approximation errors, hence enhancing the robust performance of robotic manipulator system uncertainties.
It is proved that the tracking errors converge into zero asymptotically by using Lyapunov stability theory.
Last, we take a two-link rigid robotic manipulator as an example and give its simulations.
Compared with the existing results in the literature, the proposed controller shows higher precision and stronger robustness.
American Psychological Association (APA)
Zhou, Jinglei& Qunli, Zhang. 2018. Adaptive Fuzzy Control of Uncertain Robotic Manipulator. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1207609
Modern Language Association (MLA)
Zhou, Jinglei& Qunli, Zhang. Adaptive Fuzzy Control of Uncertain Robotic Manipulator. Mathematical Problems in Engineering No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1207609
American Medical Association (AMA)
Zhou, Jinglei& Qunli, Zhang. Adaptive Fuzzy Control of Uncertain Robotic Manipulator. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1207609
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207609